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/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

 *****************************************************************************/

    29

    30

/** \file

    31

 * Vendor specific over EtherCAT protocol handler functions.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#include <linux/module.h>

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    38

#include "master.h"

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#include "slave_config.h"

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#include "mailbox.h"

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#include "voe_handler.h"

    42

    43

/** VoE mailbox type.

    44

 */

    45

#define EC_MBOX_TYPE_VOE 0x0f

    46

    47

/** VoE header size.

    48

 */

    49

#define EC_VOE_HEADER_SIZE 6

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    51

/** VoE response timeout in [ms].

    52

 */

    53

#define EC_VOE_RESPONSE_TIMEOUT 500

    54

    55

/*****************************************************************************/

    56

    57

void ec_voe_handler_state_write_start(ec_voe_handler_t *);

    58

void ec_voe_handler_state_write_response(ec_voe_handler_t *);

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    60

void ec_voe_handler_state_read_start(ec_voe_handler_t *);

    61

void ec_voe_handler_state_read_check(ec_voe_handler_t *);

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void ec_voe_handler_state_read_response(ec_voe_handler_t *);

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    64

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *);

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void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *);

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    67

void ec_voe_handler_state_end(ec_voe_handler_t *);

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void ec_voe_handler_state_error(ec_voe_handler_t *);

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    70

/*****************************************************************************/

    71

    72

/** VoE handler constructor.

    73

 *

    74

 * \return Return value of ec_datagram_prealloc().

    75

 */

    76

int ec_voe_handler_init(

    77

        ec_voe_handler_t *voe, /**< VoE handler. */

    78

        ec_slave_config_t *sc, /**< Parent slave configuration. */

    79

        size_t size /**< Size of memory to reserve. */

    80

        )

    81

{

    82

    voe->config = sc;

    83

    voe->vendor_id = 0x00000000;

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    voe->vendor_type = 0x0000;

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    voe->data_size = 0;

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    voe->dir = EC_DIR_INVALID;

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    voe->state = ec_voe_handler_state_error;

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    voe->request_state = EC_INT_REQUEST_INIT;

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    90

    ec_datagram_init(&voe->datagram);

    91

    return ec_datagram_prealloc(&voe->datagram,

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            size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

    93

}

    94

    95

/*****************************************************************************/

    96

    97

/** VoE handler destructor.

    98

 */

    99

void ec_voe_handler_clear(

   100

        ec_voe_handler_t *voe /**< VoE handler. */

   101

        )

   102

{

   103

    ec_datagram_clear(&voe->datagram);

   104

}

   105

   106

/*****************************************************************************/

   107

   108

/** Get usable memory size.

   109

 *

   110

 * \return Memory size.

   111

 */

   112

size_t ec_voe_handler_mem_size(

   113

        const ec_voe_handler_t *voe /**< VoE handler. */

   114

        )

   115

{

   116

    if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)

   117

        return voe->datagram.mem_size -

   118

            (EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

   119

    else

   120

        return 0;

   121

}

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   123

/*****************************************************************************

   124

 * Application interface.

   125

 ****************************************************************************/

   126

   127

void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,

   128

        uint16_t vendor_type)

   129

{

   130

    voe->vendor_id = vendor_id;

   131

    voe->vendor_type = vendor_type;

   132

}

   133

   134

/*****************************************************************************/

   135

   136

void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,

   137

        uint32_t *vendor_id, uint16_t *vendor_type)

   138

{

   139

    uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE;

   140

   141

    if (vendor_id)

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        *vendor_id = EC_READ_U32(header);

   143

    if (vendor_type)

   144

        *vendor_type = EC_READ_U16(header + 4);

   145

}

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   147

/*****************************************************************************/

   148

   149

uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)

   150

{

   151

    return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE;

   152

}

   153

   154

/*****************************************************************************/

   155

   156

size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)

   157

{

   158

    return voe->data_size;

   159

}

   160

   161

/*****************************************************************************/

   162

   163

void ecrt_voe_handler_read(ec_voe_handler_t *voe)

   164

{

   165

    voe->dir = EC_DIR_INPUT;

   166

    voe->state = ec_voe_handler_state_read_start;

   167

    voe->request_state = EC_INT_REQUEST_BUSY;

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}

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   170

/*****************************************************************************/

   171

   172

void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)

   173

{

   174

    voe->dir = EC_DIR_INPUT;

   175

    voe->state = ec_voe_handler_state_read_nosync_start;

   176

    voe->request_state = EC_INT_REQUEST_BUSY;

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}

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/*****************************************************************************/

   180

   181

void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)

   182

{

   183

    voe->dir = EC_DIR_OUTPUT;

   184

    voe->data_size = size;

   185

    voe->state = ec_voe_handler_state_write_start;

   186

    voe->request_state = EC_INT_REQUEST_BUSY;

   187

}

   188

   189

/*****************************************************************************/

   190

   191

ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)

   192

{

   193

    if (voe->config->slave) { // FIXME locking?

   194

        voe->state(voe);

   195

        if (voe->request_state == EC_INT_REQUEST_BUSY) {

   196

            ec_master_queue_datagram(voe->config->master, &voe->datagram);

   197

        }

   198

    } else {

   199

        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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    }

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    return ec_request_state_translation_table[voe->request_state];

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}

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   206

/******************************************************************************

   207

 * State functions.

   208

 *****************************************************************************/

   209

   210

/** Start writing VoE data.

   211

 */

   212

void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)

   213

{

   214

    ec_slave_t *slave = voe->config->slave;

   215

    uint8_t *data;

   216

   217

    if (slave->master->debug_level) {

   218

        EC_SLAVE_DBG(slave, 0, "Writing %zu bytes of VoE data.\n",

   219

               voe->data_size);

   220

        ec_print_data(ecrt_voe_handler_data(voe), voe->data_size);

   221

    }

   222

   223

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   224

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   225

        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

   228

    }

   229

   230

    data = ec_slave_mbox_prepare_send(slave, &voe->datagram,

   231

            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);

   232

    if (IS_ERR(data)) {

   233

        voe->state = ec_voe_handler_state_error;

   234

        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

   236

    }

   237

   238

    EC_WRITE_U32(data,     voe->vendor_id);

   239

    EC_WRITE_U16(data + 4, voe->vendor_type);

   240

    /* data already in datagram */

   241

   242

    voe->retries = EC_FSM_RETRIES;

   243

    voe->jiffies_start = jiffies;

   244

    voe->state = ec_voe_handler_state_write_response;

   245

}

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   247

/*****************************************************************************/

   248

   249

/** Wait for the mailbox response.

   250

 */

   251

void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)

   252

{

   253

    ec_datagram_t *datagram = &voe->datagram;

   254

    ec_slave_t *slave = voe->config->slave;

   255

   256

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   257

        return;

   258

   259

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   260

        voe->state = ec_voe_handler_state_error;

   261

        voe->request_state = EC_INT_REQUEST_FAILURE;

   262

        EC_SLAVE_ERR(slave, "Failed to receive VoE write request datagram: ");

   263

        ec_datagram_print_state(datagram);

   264

        return;

   265

    }

   266

   267

    if (datagram->working_counter != 1) {

   268

        if (!datagram->working_counter) {

   269

            unsigned long diff_ms =

   270

                (jiffies - voe->jiffies_start) * 1000 / HZ;

   271

            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {

   272

                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"

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                        " VoE write request. Retrying after %lu ms...\n",

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                        diff_ms);

   275

                // no response; send request datagram again

   276

                return;

   277

            }

   278

        }

   279

        voe->state = ec_voe_handler_state_error;

   280

        voe->request_state = EC_INT_REQUEST_FAILURE;

   281

        EC_SLAVE_ERR(slave, "Reception of VoE write request failed: ");

   282

        ec_datagram_print_wc_error(datagram);

   283

        return;

   284

    }

   285

   286

    EC_CONFIG_DBG(voe->config, 1, "VoE write request successful.\n");

   287

   288

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   289

    voe->state = ec_voe_handler_state_end;

   290

}

   291

   292

/*****************************************************************************/

   293

   294

/** Start reading VoE data.

   295

 */

   296

void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)

   297

{

   298

    ec_datagram_t *datagram = &voe->datagram;

   299

    ec_slave_t *slave = voe->config->slave;

   300

   301

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   302

   303

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   304

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   305

        voe->state = ec_voe_handler_state_error;

   306

        voe->request_state = EC_INT_REQUEST_FAILURE;

   307

        return;

   308

    }

   309

   310

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   311

   312

    voe->jiffies_start = jiffies;

   313

    voe->retries = EC_FSM_RETRIES;

   314

    voe->state = ec_voe_handler_state_read_check;

   315

}

   316

   317

/*****************************************************************************/

   318

   319

/** Check for new data in the mailbox.

   320

 */

   321

void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)

   322

{

   323

    ec_datagram_t *datagram = &voe->datagram;

   324

    ec_slave_t *slave = voe->config->slave;

   325

   326

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   327

        return;

   328

   329

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   330

        voe->state = ec_voe_handler_state_error;

   331

        voe->request_state = EC_INT_REQUEST_FAILURE;

   332

        EC_SLAVE_ERR(slave, "Failed to receive VoE mailbox check datagram: ");

   333

        ec_datagram_print_state(datagram);

   334

        return;

   335

    }

   336

   337

    if (datagram->working_counter != 1) {

   338

        voe->state = ec_voe_handler_state_error;

   339

        voe->request_state = EC_INT_REQUEST_FAILURE;

   340

        EC_SLAVE_ERR(slave, "Reception of VoE mailbox check"

   341

                " datagram failed: ");

   342

        ec_datagram_print_wc_error(datagram);

   343

        return;

   344

    }

   345

   346

    if (!ec_slave_mbox_check(datagram)) {

   347

        unsigned long diff_ms =

   348

            (datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ;

   349

        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {

   350

            voe->state = ec_voe_handler_state_error;

   351

            voe->request_state = EC_INT_REQUEST_FAILURE;

   352

            EC_SLAVE_ERR(slave, "Timeout while waiting for VoE data.\n");

   353

            return;

   354

        }

   355

   356

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   357

        voe->retries = EC_FSM_RETRIES;

   358

        return;

   359

    }

   360

   361

    // Fetch response

   362

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   363

    voe->retries = EC_FSM_RETRIES;

   364

    voe->state = ec_voe_handler_state_read_response;

   365

}

   366

   367

/*****************************************************************************/

   368

   369

/** Read the pending mailbox data.

   370

 */

   371

void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)

   372

{

   373

    ec_datagram_t *datagram = &voe->datagram;

   374

    ec_slave_t *slave = voe->config->slave;

   375

    ec_master_t *master = voe->config->master;

   376

    uint8_t *data, mbox_prot;

   377

    size_t rec_size;

   378

   379

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   380

        return;

   381

   382

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   383

        voe->state = ec_voe_handler_state_error;

   384

        voe->request_state = EC_INT_REQUEST_FAILURE;

   385

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   386

        ec_datagram_print_state(datagram);

   387

        return;

   388

    }

   389

   390

    if (datagram->working_counter != 1) {

   391

        voe->state = ec_voe_handler_state_error;

   392

        voe->request_state = EC_INT_REQUEST_FAILURE;

   393

        EC_SLAVE_ERR(slave, "Reception of VoE read response failed: ");

   394

        ec_datagram_print_wc_error(datagram);

   395

        return;

   396

    }

   397

   398

    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);

   399

    if (IS_ERR(data)) {

   400

        voe->state = ec_voe_handler_state_error;

   401

        voe->request_state = EC_INT_REQUEST_FAILURE;

   402

        return;

   403

    }

   404

   405

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   406

        voe->state = ec_voe_handler_state_error;

   407

        voe->request_state = EC_INT_REQUEST_FAILURE;

   408

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

   409

                " as response.\n", mbox_prot);

   410

        ec_print_data(data, rec_size);

   411

        return;

   412

    }

   413

   414

    if (rec_size < EC_VOE_HEADER_SIZE) {

   415

        voe->state = ec_voe_handler_state_error;

   416

        voe->request_state = EC_INT_REQUEST_FAILURE;

   417

        EC_SLAVE_ERR(slave, "Received VoE header is"

   418

                " incomplete (%zu bytes)!\n", rec_size);

   419

        return;

   420

    }

   421

   422

    if (master->debug_level) {

   423

        EC_CONFIG_DBG(voe->config, 0, "VoE data:\n");

   424

        ec_print_data(data, rec_size);

   425

    }

   426

   427

    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;

   428

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   429

    voe->state = ec_voe_handler_state_end; // success

   430

}

   431

   432

/*****************************************************************************/

   433

   434

/** Start reading VoE data without sending a sync message before.

   435

 */

   436

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)

   437

{

   438

    ec_datagram_t *datagram = &voe->datagram;

   439

    ec_slave_t *slave = voe->config->slave;

   440

   441

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   442

   443

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   444

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   445

        voe->state = ec_voe_handler_state_error;

   446

        voe->request_state = EC_INT_REQUEST_FAILURE;

   447

        return;

   448

    }

   449

   450

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   451

   452

    voe->jiffies_start = jiffies;

   453

    voe->retries = EC_FSM_RETRIES;

   454

    voe->state = ec_voe_handler_state_read_nosync_response;

   455

}

   456

   457

/*****************************************************************************/

   458

   459

/** Read the pending mailbox data without sending a sync message before. This

   460

 *  might lead to an empty reponse from the client.

   461

 */

   462

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)

   463

{

   464

    ec_datagram_t *datagram = &voe->datagram;

   465

    ec_slave_t *slave = voe->config->slave;

   466

    ec_master_t *master = voe->config->master;

   467

    uint8_t *data, mbox_prot;

   468

    size_t rec_size;

   469

   470

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   471

        return;

   472

   473

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   474

        voe->state = ec_voe_handler_state_error;

   475

        voe->request_state = EC_INT_REQUEST_FAILURE;

   476

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   477

        ec_datagram_print_state(datagram);

   478

        return;

   479

    }

   480

   481

    if (datagram->working_counter == 0) {

   482

        voe->state = ec_voe_handler_state_error;

   483

        voe->request_state = EC_INT_REQUEST_FAILURE;

   484

        EC_SLAVE_DBG(slave, 1, "Slave did not send VoE data.\n");

   485

        return;

   486

    }

   487

   488

    if (datagram->working_counter != 1) {

   489

        voe->state = ec_voe_handler_state_error;

   490

        voe->request_state = EC_INT_REQUEST_FAILURE;

   491

        EC_SLAVE_WARN(slave, "Reception of VoE read response failed: ");

   492

        ec_datagram_print_wc_error(datagram);

   493

        return;

   494

    }

   495

   496

    if (!(data = ec_slave_mbox_fetch(slave, datagram,

   497

                    &mbox_prot, &rec_size))) {

   498

        voe->state = ec_voe_handler_state_error;

   499

        voe->request_state = EC_INT_REQUEST_FAILURE;

   500

        return;

   501

    }

   502

   503

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   504

        voe->state = ec_voe_handler_state_error;

   505

        voe->request_state = EC_INT_REQUEST_FAILURE;

   506

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"